Homopolar linear synchronous machine

ABSTRACT

Homopolar linear synchronous machines (200) are provided herein that include a mover device (111). The mover device (111) includes a cold plate with ferromagnetic cores extending through slots in the cold plate. Layers of armature coils are located around the ferromagnetic cores on opposite sides of the cold plate. The mover device (111) further includes at least one field coil.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present specification claims priority from U.S. Patent ApplicationNo. 62/733,551, filed Sep. 19, 2018, the contents of which areincorporated herein by reference.

BACKGROUND

A direct drive motor is a type of synchronous motor that directly drivesa load, rather than using a transmission or gear box. Linear motors aregenerally direct drive motors as it is generally not feasible to haveany intermediary components. The constraints of a transportation systemthat seeks to promote high-speed, high-efficiency, and high-powerdensity, impose challenges that are not present in the state of the art.

BRIEF DESCRIPTIONS OF THE DRAWINGS

For a better understanding of the various examples described herein andto show more clearly how they may be carried into effect, reference willnow be made, by way of example only, to the accompanying drawings inwhich:

FIG. 1 depicts a view of a high-speed transport system that includes ahomopolar linear synchronous motor, according to non-limiting examples.

FIG. 2 depicts a perspective view of a homopolar linear synchronousmotor, according to non-limiting examples.

FIG. 3 depicts a perspective view of a mover device (e.g. a rotor) of ahomopolar linear synchronous motor, according to non-limiting examples.

FIG. 4 depicts a side view of a portion of the mover device, with fieldcoils removed, to show armature coils and ferromagnetic cores, as wellas channel segments (e.g. a stator) of the homopolar linear synchronousmotor, according to non-limiting examples.

FIG. 5A and FIG. 5B respectively depict a side and cross-sectional viewof a portion of the homopolar linear synchronous motor, along withmagnetic flux paths that occur during operation thereof, according tonon-limiting examples.

FIG. 6 depicts magnetic flux density as a function of position, of aportion of the homopolar linear synchronous motor, according tonon-limiting examples.

FIG. 7 depicts a schematic block diagram of electrical components of amover device of a homopolar linear synchronous motor, according tonon-limiting examples.

FIG. 8 depicts a side view of a portion of a mover device that includesa plurality of cold plates and a plurality of layers of armature coils,according to non-limiting examples.

FIG. 9 depicts details of a cold plate, according to non-limitingexamples.

FIG. 10A, FIG. 10B and FIG. 10C depict details of a ferromagnetic core,according to non-limiting examples.

FIG. 11A, FIG. 11B and 11C depict details of a stepped armature coil,according to non-limiting examples.

FIG. 12A and FIG. 12B depict details of a mover device that includes3-layer integer windings with a ⅔ short pitch, according to non-limitingexamples.

FIG. 13A and FIG. 13B depict details of a mover device that includesfractional slot concentrated winding armature coils, according tonon-limiting examples.

FIG. 14A and FIG. 14B depict details of a mover device that includesdiamond armature coils, according to non-limiting examples.

FIG. 15 depicts details of retention devices and cooling blocks of amover device, according to non-limiting examples.

FIG. 16 depicts a mover device in an assembled state, according tonon-limiting examples.

FIG. 17 depicts an elongated C-shaped channel having magnetic saliency,and which may be used as track for a mover device, according tonon-limiting examples.

DETAILED DESCRIPTION

Throughout the present specification, references to a “stator” may referto a track and/or channel segments of a homopolar linear synchronousmachine used in a transportation system, described herein, andreferences to a “rotor” may refer to components of a mover device, ofthe homopolar linear synchronous machine, which interact with the trackto propel the mover device along the track in the transportation system.

In particular, an aspect of the present specification provides ahomopolar linear synchronous machine for a transportation system. Ahomopolar linear synchronous machine may include a stator (e.g. a track)and rotor (e.g. a mover device). The rotor may include at least onearmature winding which may be in the form of an armature coil and/orarmature coils. Indeed, as used herein, a winding may comprise a coil,more than one coil and/or a plurality of coils. The armature coil(s) mayform a flux path with an adjacent track segment. The rotor may have aferromagnetic core which may be laminated. The armature winding may bearound the ferromagnetic core. The rotor may be paired with a stator,which may include a track that includes at least one channel, and whichmay be formed from channel segments. The rotor may have a field winding,for example in the form of a field coil and/or field coils, around thecore laterally, such that in the presence of the track, a field fluxpath through the path geometry is formed.

Another aspect of the present specification provides a system with amoveable rotor and a relatively fixed stator such that the two togetherform a homopolar linear synchronous machine. The rotor may include atleast one coil, at least one core, and at least one cold plate. A coremay be constructed from a ferromagnetic material, such as silicon steel,cobalt steel and the like. A core may be laminated, such that the coreis constructed from at least two sheets of metal that have been joinedtogether while remaining electrically insulated from each other using,for example, one or more of surface roughness, blueing, coatings, andthe like. The laminations of the core may be grain oriented and/ornon-grain oriented. A cold plate may include a rectangular sheet ofaluminum and/or a rectangular sheet of stainless steel, and the like.The cold plate may have cooling channels for removing heat. The coldplate may also serve as the main structural unit of the rotor. The coldplate may have substantially parallel slots through the cold plate,which may be interchangeably referred to as windows and/or aperturesthrough the cold plate. The slots may be rectangular in shape and/or theslots may be complementary to a shape of a core. The core may be joinedto the cold plate, such that the core fits substantially within a slotof the cold plate and the core may be substantially connected to thecold plate in any suitable manner, such as mounting brackets. A portionof the core may extend beyond at least one face of the cold plate, suchthat when viewed down the length of the cold plate, the core may bevisible extending out from at least one side of the cold plate. Anotheraspect of the present specification provides a plurality of cores whichmay be joined to the cold plate. Another aspect of the presentspecification provides a second core which may be attached to a coldplate in a location that is offset from a first core, such that thesecond core and the first core are substantially parallel. The at leastone winding may include an armature winding and/or armature coil(s), anda field winding and/or field coil(s). The winding may be made from aconductive material, such as aluminum, copper, and the like, and a coilof a winding, as well as turns thereof, may be coated in an insulatingmaterial, such as polyamide enamel, polyamide tape, and the like.Another aspect of the present specification provides a rotor which mayinclude a field winding that is oriented such that the field winding issubstantially entirely along the outer perimeter of a face of the coldplate. Another aspect of the present specification provides a rotorwhich may include at least one armature winding, wherein a loop and/orcoil formed by the armature winding has a face that is orientedsubstantially parallel to a face of the cold plate. The armature windingmay be located substantially on an outer face of the core. Anotheraspect of the present specification provides an armature winding whichmay include at least one armature coil. Another aspect of the presentspecification provides a rotor with armature coils on the length of therotor, wherein groups of armature coils may represent an electricalphase of multi-phase electrical device and/or system. Another aspect ofthe present specification provides a core which may be located such thatit is substantially between a first armature coil and a second armaturecoil (e.g. of one or more armature windings). The armature winding maybe substantially enclosed by the field winding, such that the armaturewinding has a face that is adjacent to a face of the cold plate, withinthe bounds of the field winding The field winding may be secured to thecold plate using any suitable mechanism, such as stainless steel straps,polytetrafluoroethylene (PTFE) brackets, and the like. The stator mayinclude at least one channel segment made of a ferromagnetic material,such as silicon steel, cobalt steel, and the like. Another aspect of thepresent specification provides a channel segment which may be laminatedsuch that the channel segment is constructed from at least two sheets ofmetal that have been joined together while remaining electricallyinsulated from each other using, for example, one or more of surfaceroughness, blueing, coatings, and the like. Another aspect of thepresent specification provides a channel segment which may besubstantially “C” shaped, horseshoe shaped, and the like, such that therotor may be able to pass through the center hollow portion of thechannel segment. The stator may include two or more offset channelsegments, such that there is a gap between each channel segment, and thechannel segments are arranged substantially with the hollow section ofeach channel segment forming a substantially continuous path for a rotorto move through. The stator may be substantially fixed relative to therotor.

Another aspect of the present specification provides at least one ripplespring, and/or any other suitable retainer mechanism, which may be usedto press the armature windings against the cold plate including, but notlimited to a slot wedge. In such examples ripple springs and slot wedgesmay be used in combination.

Another aspect of the present specification provides armature coils thatmay be at least partially in contact with the cold plate with a surfacearea of the armature coils that are exposed to the cold plate beingmaximized.

Another aspect of the present specification provides armature windingsconfigured as concentrated windings and/or fractional slot concentratedwindings, with alternating windings distributed throughout theferromagnetic core located along a length of the rotor.

Another aspect of the present specification provides armature coilswhich, when viewed from a cross-section, may be arranged in layers, suchthat all armature coils of the same phase may be the same distance froma core surface, and armature coils of different phases may be differentdistances from a core surface. A portion of a first armature coil in afirst layer may overlap a portion of a second armature coil that is in asecond layer which may provide a short pole pitch as a result.

Another aspect of the present specification provides propulsion of therotor along a stator track in which wireless charging is incorporated.The use of electromagnetic fields allows for an easy transition intoinductor-based charging, allowing a vehicle or other battery to chargeas the rotor moves along the stator. Another aspect of the presentspecification provides charging which may be accomplished by havingwindings located on the track.

Another aspect of the present specification provides distinct windingsand/or coils which may be powered by multiple power sources, such as lowpower drives, rather than a conventional high power drive supplyingpower to an entire propulsion system. Each low power drive may beconnected to one or more pole pairs.

Another aspect of the present specification provides a cold plate whichmay include a “toothed” geometry, with gaps and/or slits in any suitableposition at the cold plate which interrupts conductive paths to reduceeddy currents in the cold plate. The cold plate may be made of a metalwith any suitable thermal and electrical properties such as aluminum,copper, titanium, magnesium, stainless steel, and the like. The armaturecoils and field coils may be substantially in contact with the coldplate, such that heat is transferred out of the armature coils and fieldcoils and into the cold plate.

Another aspect of the present specification provides a cold plate whichmay have at least one cooling channel.

Another aspect of the present specification provides a high speedtransportation system which includes a homopolar linear synchronousmachine. The rotor may be substantially attached to a payload, such asby including bolt holes, brackets, and the like, in the cold plate thatmay be connected to the payload via respective bolt holes, brackets, andthe like, and any suitable fastener, such as bolts, and the like. Thepayload may be a vehicle, such as for cargo and passengers. Anotheraspect of the present specification provides a conductive shielding onthe rotor to avoid plasma generation. The rotor may be attached to thepayload in any of one or more orientations, such as on the top, bottom,and side of the payload, so long as a corresponding stator segment issubstantially connected to a surface in an orientation that allows therotor to pass through a channel segment in the direction of motion. Thestator may be attached to a fixed surface, such as a wall and/or aninside of a tube. The stator may be substantially fixed in anyorientation, so long as the rotor has a substantially matchingorientation to allow the rotor to pass through the channel segment.Another aspect of the present specification provides a high speedtransportation system which may be enclosed such that the travellingpath may be at least partially evacuated.

Another aspect of the present specification provides a process for usingthe homopolar linear synchronous machine as a propulsion system for ahigh-speed transport system in a low-pressure environment. The rotor maybe substantially attached to a payload, such as by including bolt holesin the cold plate that may be connected to the payload. The payload maybe a vehicle, such as for cargo and passengers. Another aspect of thepresent specification provides conductive shielding on the rotor toavoid plasma generation. The rotor may be attached to the payload in anyof one or more orientations, such as on the top, bottom, and side of thepayload, so long as a corresponding stator segment is substantiallyconnected to a surface in an orientation that allows the rotor to passthrough a channel segment in the direction of motion. The stator may beattached to a fixed surface, such as a wall and/or an inside of a tube.The stator may be substantially fixed in any orientation, so long as therotor has a substantially matching orientation to allow the rotor topass through the channel segment. Power may be passed to the windings ofthe rotor, introducing a magnetomotive force. The varying magnetic fluxcomes from the saliency of the channel segments relative to the fieldwinding and/or field coil(s), introducing a field flux path that closessubstantially perpendicular to the direction of motion. Thrust may begenerated by the interaction between the field flux and the current inthe armature winding and/or armature coils.

Another aspect of the present specification provides a mover devicecomprising: a cold plate comprising a movement axis and slotstherethrough arranged along the movement axis; ferromagnetic coresextending through the slots; first armature coils located around theferromagnetic cores at a first side of the cold plate; second armaturecoils located around the ferromagnetic cores at a second side of thecold plate opposite the first side of the cold plate; and at least onefield coil around one or more of the first armature coils and the secondarmature coils.

Another aspect of the present specification provides a mover devicecomprising: one or more cold plates comprising a movement axis andrespective slots therethrough arranged along the movement axis;ferromagnetic cores extending through the slots; first armature coilslocated around the ferromagnetic cores at a first side of a cold plateof the one or more cold plates; second armature coils located around theferromagnetic cores at a second side of the cold plate, of the one ormore cold plates, opposite the first side of the cold plate; and atleast one field coil around one or more of the first armature coils andthe second armature coils.

Another aspect of the present specification provides a mover devicecomprising: one or more cold plates comprising a movement axis andrespective slots therethrough arranged along the movement axis;ferromagnetic cores extending through the slots; at least a first setand/or first layer of armature coils located around the ferromagneticcores at a first side of a cold plate of the one or more cold plates; atleast a second set and/or second layer of second armature coils locatedaround the ferromagnetic cores at a second side of the cold plate, ofthe one or more cold plates, opposite the first side of the cold plate;and at least one field coil around one or more of the first set and/orthe first layer of the first armature coils and the second set and/orthe second layer of the second armature coils.

Another aspect of the present specification provides a mover devicecomprising: one or more cold plates; a plurality of layers of armaturecoils, the one or more cold plates and the plurality of layers ofarmature coils alternating and/or arranged such that a given cold plateis between a pair of layers of armature coils; and a plurality offerromagnetic cores which extend through respective slots in the one ormore cold plates, the plurality of layers of armature coils locatedaround the plurality of ferromagnetic cores with, for example, armaturecoils of respective phases aligned along the plurality of ferromagneticcores from layer to layer.

Another aspect of the present specification provides a mover devicehaving any suitable configuration and/or arrangement of cold plates andarmature coils. A mover device may include two layers of armature coilswith a cold plate therebetween, and a third layer (or more) of armaturecoils adjacent one (or more) of the two layers of armature coils withouta second cold plate, with the armature coils of all three layers ofarmature coils around common ferromagnetic cores which extend throughslots of the cold plate. A mover device may include a first structurecomprising two layers of armature coils with a cold plate therebetween,and a second structure comprising two further layers of armature coilswith a further cold plate therebetween, slots of the cold plates beingaligned, with common ferromagnetic cores extending therethrough; thearmature coils of the first structure and the second structure beingaround the ferromagnetic cores. A mover device may include two or morelayers of armature coils with a cold plate therebetween, the armaturecoils of the two layers around common ferromagnetic cores which extendthrough slots of the cold plate; the mover device may include additionallayers of armature coils around the ferromagnetic cores and/oradditional cold plates with respective slots through which theferromagnetic cores extend.

Attention is directed to FIG. 1 which schematically depicts a view of ahigh-speed transport system 100. As depicted, the system 100 includes awall 101 (depicted in cross-section) which supports a track 103comprising channel segments 105 spaced periodically along the wall 101.In some examples, the wall 101 may be a wall of a tube which may beevacuated and/or at least partially evacuated using vacuum pumps (notdepicted) and the like, to form in a low-pressure environment. However,in other examples the tube may not be evacuated and/or the wall 101, thetrack 103 and the mover device 11 are not in a low-pressure environment.Furthermore, the wall 101 may not be a wall of tube, but may be a wallof any suitable structure which supports the track 103.

As depicted, the system 100 includes a payload 107 which may comprise avehicle, and the like, for transporting cargo and/or passengers. Thepayload 107 may be aerodynamically shaped. The system 100 furtherincludes at least one mover device 111 attached to the payload 107 whichinteract with the channel segments 105 to move the payload 107 along thetrack 103. Any suitable number of mover devices 111 may be attached tothe payload 107 in any suitable configuration. Similarly, the track 103and the channel segments 105 may be located on one or more sides of atube, and the like, that include the wall 101, with any geometry of amover device 111 attached to the payload 107 adjusted accordingly.

In general, the channel segments 105 and the mover device 111,respectively form a stator and a rotor of homopolar linear synchronousmachine. The rotors (e.g. the mover device 111) may be substantiallyattached to the payload 107, such as by including bolt holes and/orattachment units at the mover device 111 that may be connected to thepayload 107. The rotor/mover device 111 may include conductive shieldingto avoid plasma generation as the payload 107 is propelled along thetrack 103. The rotor/mover device 111 may be attached to the payload 107in any of one or more orientations, such as on the top, bottom, and sideof the payload 107, so long as a corresponding stator/channel segment105 is substantially connected to the wall 101 in an orientation thatallows the rotor/mover device 111 to pass through a channel segment 105in a direction of motion. The stator/channel segments 105 may beattached to the wall 101 in any suitable orientation, so long as therotor/mover device 111 have a substantially matching orientation toallow the rotor/mover device 111 to pass through the stator/channelsegments 105.

While not depicted, the system 100 may further comprise a suspensionand/or location system to suspend and/or locate the mover device 111relative to the channel segments 105. Such a suspension and/or locationsystem may be mechanical (e.g. wheels and a track therefor), and/orelectromagnetic (e.g. a maglev system), and/or of any other suitableconfiguration. While not depicted, the system 100 may further comprise aguidance system to guide and/or steer the payload 107 relative to thetrack 103 and/or the channel segments 105, and/or onto other walls (e.g.of other tubes) that connect to the wall 101

Attention is next directed to FIG. 2 which depicts a homopolar linearsynchronous machine (HLSM) 200 according to present examples. Inparticular FIG. 2 depicts a perspective view of a portion of the track103, including a portion of the channel segments 105 and a mover device111. As depicted, the channel segments 105 may be substantially C-shapedand/or horseshoe shaped, and the like, such that a mover device 111 maypass through a center “hollow” portion 201 of a channel segment 105.Indeed, as depicted, the mover device 111 is passing through a pluralityof channel segments 105. Indeed, as will also be described hereafter,the track 103, and specifically the channel segments 105, may functionas a stator of the HLSM 200, and the mover device 111 may function as arotor of the HLSM 200, such that, together, the track 103 (e.g. thechannel segments 105) and the mover device 111 form the HLSM 200.

As depicted, a stator of the HLSM 200, as described herein, may includetwo or more laterally offset channel segments 105, such that there is agap 203 between adjacent channel segment 105. Hence, the channelsegments 105 are generally magnetically salient, such that a varyingmagnetic flux may be produced across the channel segments 105 and thegaps 203, for example by at least one field coil of the mover device111; such magnetic flux may be about constant in a channel segment105,and the resulting magnetic flux in the gap 203 varies, relative to theflux in a channel segment 105, in a direction of motion (e.g. along thetrack 103). In some examples, a width of the gap 203 may be similar to awidth of a channel segments 105, such that a pitch of the channelsegments 105 (e.g. a distance between centers of the channel segments105) is about twice a width of a channel segment 105 and/or twice awidth of the gap 203. However, the pitch of the channel segments 105 maybe any suitable value.

The channel segments 105 are arranged such that hollow portions 201 ofthe channel segments 105 form a substantially continuous path for arotor, and specifically the mover device 111, to move relative to thechannel segments 105 and/or the track 103. Hence, a stator and/or track103 and/or channel segments 105, may be substantially fixed relative tothe rotor/mover device 111 of the HLSM 200. Indeed, together, the track103 and the mover device 111 comprise a propulsion system for moving thepayload 107 relative to the wall 101, in either direction along thetrack 103, depending, for example, on how field coils and/or armaturecoils of the mover device 111 are controlled, as described hereafter.

The channel segments 105 may comprise a ferromagnetic material,including, but not limited to, a ferromagnetic metal, silicon steel,cobalt steel and the like. Furthermore, a channel segment 105 may belaminated such that a channel segment 105 comprises (and/or isconstructed from) at least two sheets of ferromagnetic material thathave been joined together using any suitable lamination process and/ordevices (including, but not limited to, bolts and/or fasteners, and thelike) while remaining electrically insulated from each other using, forexample, one or more of surface roughness, blueing, coatings, and thelike. Reference to laminations hereafter are understood to includesheets of electrically conducting material that are electricallyinsulated from each other using, for example any suitable materialand/or process. Such laminations may be used to reduce eddy currents inthe channel segments 105; for example, as will be described hereafter,the channel segments 105 generally provide pathways for magnetic fluxduring operation of the HLSM 200, which generally induce eddy currentswhich oppose the magnetic flux, and which may be reduced by laminatingthe channel segments 105, for example in a direction of the hollowportions 201 and/or direction of motion of the mover device 111.

An example of the mover device 111 will next be described with referenceto FIG. 3 and FIG. 4 which respectively depict a perspective view of themover device 111, and a side view of a portion of the mover device 111located in the hollow portion 201 of two channel segments 105; in FIG.4, field coils are removed to show details of armature coils andferromagnetic cores of the mover device 111.

The mover device 111 generally comprises: a cold plate 301 comprising amovement axis 303 and slots 305 (as best seen in outline in FIG. 4)therethrough, from a first side 311 of the cold plate 301 to a secondside 312 of the cold plate 301. The second side 312 of the cold plate301 is opposite the first side 311; the first side 311 is best seen inFIG. 3, and while the second side 312 is not visible in FIG. 3, thesecond side 312 is understood to be “under” the first side 311 in FIG.3; as such, the second side 312 is best seen in FIG. 4 in a side view. Aside 311, 312 of the cold plate 301 may alternatively be referred to aface of the cold plate 301.

The movement axis 303 comprises an axis in which movement of the moverdevice 111 may occur, either in a “forward” or “backward” direction, forexample along the track 103. When the mover device 111 is rectangular,and/or has a length longer than a width, the movement axis 303 maycomprise a longitudinal axis of the mover device 111. Similarly, themovement axis 303 may be along a length of the mover device 111. Putanother way, the movement axis 303 generally corresponds to one or moredirections of movement of the mover device 111, for example along thetrack 103, and which may be along a length of the mover device 111.

The slots 305 of the cold plate 301 may generally be rectangular, andparallel with each other, arranged along the movement axis 303. Theslots 305 may alternatively be referred to as windows. Put another way,cold plate 301 may have substantially parallel slots 305 removed fromthe cold plate 301, which may generally reduce a weight of the coldplate 301. However, as will be explained hereafter, the slots 305 and/orwindow generally provide space for a ferromagnetic core to be mounted tothe cold plate 301.

The cold plate 301 is generally configured to remove heat from othercomponents of the mover device 111, and hence may include coolingchannels for removing heat, for example via a cooling liquid pumpedthrough the cooling channels.

The cold plate 301 is further generally configured to provide a mainstructural unit for the mover device 111. In other words, the cold plate301 generally supports the other components of the mover device 111and/or the other components of the mover device 111 may be mounted to,and/or may be supported by, the cold plate 301 using mounting bracketsand the like, and/or any other suitable fasteners.

The cold plate 301 generally comprise a non-ferromagnetic materialincluding, but not limited to, one or more of aluminum, copper,titanium, magnesium, stainless steel and the like. Furthermore, whilethe cold plate 301 is depicted herein as a generally rectangular sheetof non-ferromagnetic material (e.g. aluminum, stainless steel, and thelike), the cold plate 301 may be of any suitable shape and of anysuitable material. Further details of the cold plate 301 are describedbelow with respect to FIG. 9.

The mover device 111 further comprises: ferromagnetic cores 307extending through the slots 305, which may be in a one-to-onerelationship, though there may be more slots 305 than ferromagneticcores 307. The ferromagnetic cores 307 are generally separated by gaps308, as best seen in FIG. 4. While for simplicity only one ferromagneticcore 307 is indicated in FIG. 3, and ferromagnetic cores 307-1, 307-2are indicated in FIG. 4, it is understood that the mover device 111 mayinclude any suitable number of ferromagnetic cores 307, and acorresponding number of slots 305, arranged along the movement axis 303of the mover device 111. Similarly, while only one gap 308 is indicatedin FIG. 4 for simplicity, it is understood that the mover device 111 mayinclude a respective gap 308 between adjacent ferromagnetic cores 307.

A ferromagnetic core 307 may comprise (and/or be constructed from) aferromagnetic material, including, but not limited to, silicon steel,cobalt steel, and the like. The ferromagnetic cores 307 are generallyparallel to each other and arranged along the movement axis 303 of themover device 111. A shape of the slots 305 is generally complementary toa shape of the ferromagnetic cores 307, and vice versa, such that theferromagnetic cores 307 fit through the slots 305. Hence, when the slots305 are rectangular, a cross-sectional shape of the ferromagnetic cores307, in a plane of the cold plate 301, is also rectangular, and viceversa. However, the slots 305 and the ferromagnetic cores 307 may be ofany suitable respective and/or complementary shape.

A ferromagnetic core 307 may be joined to the cold plate 301, such thata ferromagnetic core 307 fits substantially within a slot 305 of thecold plate 301. A ferromagnetic core 307 may be substantially connectedto the cold plate 301 in any suitable manner, such as mounting brackets,and the like. A portion of a ferromagnetic core 307 may extend beyond atleast one side 311, 312 of the cold plate 301, such that when vieweddown a length of the cold plate 301 (e.g. along the movement axis 303),a ferromagnetic core 307 may be visible extending out from at least oneside 311, 312. As depicted, a ferromagnetic core 307 extending out fromboth sides 311, 312 of the cold plate 301.

Put another way, a plurality of ferromagnetic cores 307 may be joinedand/or attached to the cold plate 301. For example, a firstferromagnetic core 307 may be joined and/or attached to the cold plate301, and a second ferromagnetic core 307 joined and/or attached to thecold plate 301 at a location that is offset from the first ferromagneticcore 307, such that the second ferromagnetic core 307 and the firstferromagnetic core 307 are substantially parallel.

In particular, as best seen in FIG. 4, about equal portions of theferromagnetic cores 307 extend from each of the first side 311 and thesecond side 312 of the cold plate 301. Put another way, a ferromagneticcore 307 may extend about half way through a respective slot 305 and/ora ferromagnetic core 307 may be about symmetric with respect to thefirst side 311 and the second side 312 of the cold plate 301.

However, as will be described below, in other examples, a mover device111 may include more than one cold plate 301 and, in these examples, theferromagnetic cores 307 extend through all the cold plates 301 throughrespective slots, with the ferromagnetic cores 307 arranged relative tothe cold plates 301 in any suitable manner.

Similar to a channel segment 105, a ferromagnetic core 307 may belaminated such that a ferromagnetic core 307 comprises (and/or isconstructed from) at least two sheets of ferromagnetic material thathave been joined together using any suitable lamination process and/ordevices (including, but not limited to, bolts and/or fasteners, and thelike), while remaining electrically insulated from each other asdescribed above. Such laminations may be used to reduce eddy currents ina ferromagnetic core 307; for example, as will be described hereafter,the ferromagnetic cores 307 generally conduct changing magnetic fluxesduring operation of the HLSM 200, which generally induce eddy currents,which may be reduced by laminating the ferromagnetic core 307, forexample in a direction of the movement axis 303. Furthermore,laminations of a ferromagnetic core 307 may be grain oriented ornon-grain oriented; regardless of orientation of grains, the laminationsmay be produced by a stamping process (and/or any other suitableprocess) and any suitable stacking process and/or device (e.g. boltsthrough apertures in the laminations may be used for stacking and/orlaminating).

A ferromagnetic core 307 is hence in contact with the cold plate 301 ata respective slot 305; the cold plate 301 may hence generally removeheat from the ferromagnetic cores 307, as well as other components ofthe mover device 111 as described in more detail below.

As also depicted in FIG. 4, the mover device 111 is generally positionedin the channel segments 105 (e.g. in the hollow portions 201) such thatthere is a gap 318 between outer surfaces of the mover device 111 and/orthe ferromagnetic cores 307, and corresponding sections of a channelsegment 105 (e.g. arms of a channel segment 105 which form the hollowportion 201).

Further details of the ferromagnetic cores 307 are described below withrespect to FIG. 10A, FIG. 10B and FIG. 10C.

The mover device 111 further comprises: first armature coils 321-A,321-B, 321-C located around the ferromagnetic cores 307 at the firstside 311 of the cold plate; and second armature coils 322-A, 322-B,322-C (as best seen in in FIG. 4) located around the ferromagnetic cores307 at the second side 312 of the cold plate 301. Only three of thefirst armature coils 321-A, 321-B, 321-C, and three of the secondarmature coils 322-A, 322-B, 322-C are numbered for simplicity, howeverarmature coils 321-A, 322-A are also labelled “A”, armature coils 321-B,322-B are also labelled “B”, and armature coils 321-C, 322-C are alsolabelled “C” in FIG. 4 for clarity. While the armature coils 321, 322are described as being organized into three groups (e.g. “A”, “B” and“C”) the armature coils 321, 322 may be organized into any suitablenumber of groups, for example with each group corresponding to arespective phase of a multiphase electrical device and/or system, asdescribed below. The first armature coils 321-A, 321-B, 321-C areinterchangeably referred to hereafter, collectively, as first armaturecoils 321, and generically as a first armature coil 321; similarly, thesecond armature coils 322-A, 322-B, 322-C are interchangeably referredto hereafter, collectively, as second armature coils 322, andgenerically as a second armature coil 322.

Furthermore, it is understood that the first armature coils 321 and thesecond armature coils 322 may be arranged in respective layers; as suchthe first armature coils 321 may alternatively and/or interchangeably bereferred to as a first layer of armature coils 321, and the secondarmature coils 322 may alternatively be referred to as a second layer ofarmature coils 322. Alternatively, and/or in addition to, the firstarmature coils 321 may interchangeably be referred to as a first set ofarmature coils 321, and the second armature coils 322 may alternativelybe referred to as a second set of armature coils 322.

Furthermore, it is understood that each group of armature coils 321, 322of a same phase may form a respective armature winding of that phase.Hence, such an armature winding may be distributed on more than one side311, 312 of the cold plate 301.

The armature coils 321, 322 generally include any suitable conductingmaterial, the like, which form any suitable number of respective closedelectrical loops around respective ferromagnetic cores 307. As depicted,each armature coil 321, 322 is located around two ferromagnetic cores307 (e.g. via respective gaps 308), such that each of the ferromagneticcores 307 is inside two first armature coils 321, and two secondarmature coils 322 on either side 311, 312 of the cold plate 301. Suchan arrangement may be referred to as a ⅔ short pitch. For example,armature coils 321, 322 may be located substantially at an outer face ofa ferromagnetic core 307 in an adjacent gap 308; for example, aferromagnetic core 307 may include opposing faces in a direction of themovement axis 303 with shorter sides joining the opposing faces, and thearmature coils 321, 322 may be around the shorter sides, and along facesof two adjacent ferromagnetic cores 307 through adjacent gaps 308.

An electrical loop formed by an armature coil 321, 322 may have a facethat is oriented substantially parallel to a face and/or side 311, 312of the cold plate 301, at least when viewed from a directionperpendicular to the cold plate 301. As depicted in the example of FIG.3 and FIG. 4, the armature coils 321, 322 may have a steppedconfiguration, however the armature coils 321, 322 may have any suitableconfiguration; examples of other configurations of the armature coils321, 322 are described in more detail below with respect to FIG. 12A,FIG. 12B, FIG. 13A, FIG. 13B, FIG. 14A , and FIG. 14B.

The armature coils 321, 322 may comprise any suitable conductingmaterial, such as aluminum, anodized aluminum foil, copper, and thelike. Further, the conducting material may be insulated using anysuitable electrically insulating material including, but not limited to,polyamide enamel, polyamide tape, mica tape, and the like, as well asaluminum oxide of anodized aluminum foil. Any suitable number of theclosed electrical loops may be used and may depend on a resistivity ofthe conducting material.

As depicted, the mover device 111 includes several armature coils 321,322 along a length of the mover device 111, for example along themovement axis 303. As will be described below, the armature coils 321,322 may be operated according to different phases of a multi-phaseelectrical device and/or system. For example, a ferromagnetic core 307may be located such that it is substantially between (and/or locatedinside) two first armature coils 321 and two second armature coils 322(e.g. on either side 311, 312 of the cold plate 301). for example, withreference to FIG. 4, the ferromagnetic core 307-1 is between (and/orlocated inside) an “A” phase first armature coil 321 and a “C” phasefirst armature coil 321, at the first side 311 of the cold plate 301.Similarly, the ferromagnetic core 307-1 is between (and/or locatedinside) an “A” phase second armature coil 322 and a “C” phase secondarmature coil 322, at the second side 312 of the cold plate 301. Indeed,as depicted, each of the ferromagnetic cores 307 is between (and/orlocated inside) two adjacent first armature coils 321 at the first side311, and between (and/or located inside) two adjacent second armaturecoils 322 at the second side 312; however, in some examples, endferromagnetic cores 307 along the movement axis 303 may be inside onlyone first armature coil 321 at the first side 311, and one secondarmature coil 322 at the second side 312.

The armature coils 321, 322 are generally operated as a multi-phaseelectrical device and/or system to generate magnetic pole pairs,referred to hereafter as pole pairs, by inducing magnetic flux in theferromagnetic cores 307, and one or more adjacent channel segments 105,which may generate heat in the armature coils 321, 322. As depicted, atleast a portion of the armature coils 321, 322 are in contact with thecold plate 301 such that the cold plate 301 may remove and/or draw heatfrom the armature coils 321, 322.

The first armature coils 321-B may generally be operated at 120° out ofphase with respect to the first armature coils 321-A, and the firstarmature coils 321-C may be operated at 240° out of phase with respectto the first armature coils 321-A. Similarly, the second armature coils322-B may be operated at 120° out of phase with respect to the secondarmature coils 322-A, and the second armature coils 322-C may beoperated at 240° out of phase with respect to the second armature coils322-A. Put another way, adjacent first armature coils 321 may beoperated at 120° out of phase with each other, and adjacent secondarmature coils 322 may be operated at 120° out of phase with each other.

However, the armature coils 321-A, 321-B, 321-C may be operated at anysuitable relative phase, and similarly the armature coils 322-A, 322-B,322-C may be operated at any suitable relative phase, to generatemagnetic pole pairs.

Hence, the first armature coils 321 may be operated in sets of three,with every third first armature coil 321, along the movement axis 303being operated in a same phase. Similarly, the second armature coils 322may be operated in sets of three, with every third second armature coil322, in a direction of the movement axis 303 being operated in a samephase. For example, as clearly depicted in FIG. 4, from left to right,the armature coils 321 are in an order of an “A” phase adjacent a “B”phase adjacent a “C” phase, and the then order repeats. The armaturecoils 322 are arranged in a similar manner.

However, the armature coils 321, 322 may be operated in any suitablenumber of phases, which may be at least two, or more than three phases,to generate magnetic pole pairs, as described below.

As best seen in FIG. 4, the armature coils 321, 322 may be substantiallysymmetrical with each other, with respect to the cold plate 301therebetween. For example, a first armature coil 321 may correspond to arespective second armature coil 322 that is positioned as a mirror imageto the first armature coil 321. Put another way, the armature coils 321,322 may be disposed as pairs along the cold plate 301, with pairs ofarmature coils 321, 322 being operated at a same phase. For example, an“A” phase armature coil 321 is a mirror image of an “A” phase armaturecoil 322, etc.

As also best seen in FIG. 4, the first armature coils 321 and the secondarmature coils 322 comprise stepped armature coils, the stepped armaturecoils being around two respective ferromagnetic cores 307, with adjacentstepped armature coils 321, 322 offset by one respective ferromagneticcore 307, and steps of the adjacent stepped armature coils stacking withone another.

In present examples, an armature coil 321, 322 may include three steps;with reference to an “A” phase armature coil 321 which is around twoadjacent ferromagnetic cores 307-1, 307-2, three steps 325-1, 325-2,325-3 are depicted.

The first step 325-1 is adjacent the cold plate 301 and runs through agap 308-1 between two adjacent ferromagnetic cores 307 (e.g. “into” thepage of FIG. 4), including the ferromagnetic core 307-1. The first step325-1 adjacent the cold plate 301 may hence act as a pathway to removeand/or draw heat from an armature coil 321, as well as any components ofthe mover device 111 in contact with the first step 325-1.

A second step 325-2 is offset from the first step 325-1, towards anouter side of the mover device 111 (e.g. towards the channel segments105), by an angled portion of the armature coil 321 that is adjacent ashort side of the ferromagnetic core 307-1, and which joins the steps325-1, 325-2. The second step 325-2 is at a gap 308 between theferromagnetic cores 307-1, 307-2 around which the armature coil 321 islocated; unlike the first step 325-1, the second step 325-2 does not runthrough an adjacent gap 308 and hence may be formed from two portions asbest seen in FIG. 11B, described below.

A third step 325-3 is offset from the second step 325-2, towards theouter side of the mover device 111, by a respective angled portion ofthe armature coil 321 that is adjacent a side of the ferromagnetic core307-2 and which joins the steps 325-2, 325-3. Similar to the first step325-1, the third step 325-3 runs through a gap 308-2 between twoadjacent ferromagnetic cores 307 (e.g. “into” the page of FIG. 4) andaround a face the ferromagnetic core 307-2.

While not visible in FIG. 4, it is understood that the “A” armature coil321 that includes the steps 325-1, 325-2, 325-3 is similarly shaped on aside of the mover device 111 that is opposite to the depicted side.

Such a stepped configuration may enable the armature coils 321, 322 tobe arranged in a compact manner in the mover device 111. For example, asdescribed above, a given ferromagnetic core 307 may have two steppedarmature coils 321 located around it (with a stepped armature coil 321being located around two respective ferromagnetic cores 307, the twostepped armature coils 321 configured to operate at different respectivephases).

In particular, adjacent stepped armature coils 321 may be offset fromone another and “stacked” via the steps, such that steps of adjacentstepped armature coils 321, closest to the cold plate 301, are eachadjacent the cold plate 301, and steps closest to an outer surface ofthe mover device 111, are each adjacent the outer surface of the moverdevice 111. Put another way, the first steps, second steps and thirdsteps of stepped armature coils 321 are located in respective planesabout parallel to the cold plate 301, with a plane of the first stepbeing closest to the cold plate, a plane of the third step being closestto an outer surface of the mover device 111, and a plane of the secondstep being about midway between the planes of the first steps and thethird steps. Respective angled portions generally join the first step tothe second step, and the second step to the third step. Stepped armaturecoils 322 may be similarly described.

Furthermore, as mentioned above, steps of the armature coils 321, 322that are adjacent the cold plate 301 (e.g. the step 325-1) may be atleast in partial contact with the cold plate 301 to remove heattherefrom. Indeed, a surface area of such the steps and/or the armaturecoils 321, 322 adjacent the cold plate 301 may be maximized, to maximizesurface area of the armature coils 321, 322 that are exposed to, and/orin contact with, the cold plate 301.

Further details of the stepped armature coils 321, 322 are describedbelow with respect to FIG. 11A, FIG. 11B, 11C and FIG. 15.

Operation of the armature coils 321, 322 will be described in moredetail below with respect to FIG. 5A, FIG. 5B, FIG. 6 and FIG. 7.

With further reference to FIG. 3 and FIG. 4, the mover device 111further comprises: at least one field coil 330-1, 330-2 (as best seen inFIG. 3), around one or more of the first armature coils 321 and thesecond armature coils 322.

For example, as depicted, the mover device 111 comprises a first fieldcoil 330-1 around the first armature coils 321 at the first side 311 ofthe cold plate 301, and a second field coil 330-2 around the secondarmature coils 322 at the second side 312 of the cold plate 301. Thefield coils 330-1, 330-2 will be interchangeably referred to hereafter,collectively, as the field coils 330 and, generically, as a field coil330.

While two field coils 330 are depicted, the mover device 111 maycomprise as few as one field coil 330, for example at one side 311, 312of the cold plate 301. However, the mover device 111 may comprise anysuitable number of field coils 330, including, but not limited to, morethan two field coils 330.

A field coil 330 generally comprises wire and/or other suitableconducting material (e.g. such as a metal foil) which form any suitablenumber of closed electrical loops. An electrical loop formed by a fieldcoil 330 may have a face that is oriented substantially parallel to aface and/or side 311, 312 of the cold plate 301. The field coil 330 maycomprise any suitable conducting material, such as aluminum, anodizedaluminum foil, copper, and the like. Further, the conducting materialmay be insulated using any suitable electrically insulating materialincluding, but not limited to, polyamide enamel, polyamide tape, micatape, and the like, as well as aluminum oxide of anodized aluminum foil.Any suitable number of the electrical loops may be used and may dependon a resistivity of the conducting material.

As will be explained hereafter, a field coil 330 is generally operatedto form a loop of magnetic flux about perpendicular to the cold plate301, which may generate heat in a field coil 330. Hence, as depicted,each field coil 330 may be located at least partially against the coldplate 301, which may remove heat from a field coil 330.

In some examples, as depicted, a field coil 330 may be oriented suchthat the field coil 330 is substantially entirely along an outerperimeter of a face and/or side 311, 312 of the cold plate 301.

Furthermore, an armature coil 321, 322 (and/or armature windings formedby the armature coils 321, 322) may be substantially enclosed by a fieldcoil 330, such that an armature coil 321, 322 has at least one portionthat is adjacent to a face and/or side 311, 312 of the cold plate 301,within a bounds of the field coil 330. The field coil 330 may be securedto the cold plate 301 in any suitable manner, such as stainless steel(e.g. non-ferromagnetic) straps, polytetrafluoroethylene (PTFE)brackets, and the like.

Hence, in general, a rotor/mover device 111 of the HLSM 200 providedherein may include at least one winding, which may include an armaturewinding (e.g. as formed by the armature windings 321, 322) and a fieldwinding (e.g. as formed by the at least one cold plate 301); an armaturewinding (e.g. as formed by the armature windings 321, 322) and a fieldwinding (e.g. as formed by the at least one cold plate 301) may becontrolled independently, as described in more detail below with respectto FIG. 7.

Also depicted in FIG. 3 and FIG. 4 are retention devices 399 of themover device 111, for example at respective gaps 308. The retentiondevices 399 are generally to retain the first armature coils 321 and thesecond armature coils 322 between the ferromagnetic cores 307 and maycomprise one or more of a wedge and/or a slot wedge, a ripple spring,and the like. Further details of the retention devices 399 are describedbelow with respect to FIG. 15.

The mover device 111 may include any other suitable components. Forexample, as described below with respect to FIG. 15, the mover device111 may comprise one or more spacer blocks between the ferromagneticcores 307 and between respective armature coils 321, 322 located aroundthe ferromagnetic cores 307, the one or more spacer blocks configured toconduct heat from one or more of the ferromagnetic cores 307 and therespective armature coils 321, 322 to the cold plate 301. For example,spacer blocks may be located in the gaps 308 between first and thirdsteps of adjacent armature coils 321 (and/or adjacent armature coils322) to fill a space therebetween and provide heat conductiontherebetween. However, spacer blocks may be located in any suitableposition and/or gap of the mover device 111.

In some examples, at the mover device 111, at least a portion of one ormore of the cold plate 301, the ferromagnetic cores 307, the firstarmature coils 321 the second armature coils 322, and the field coil(s)330 may be encapsulated using an electrically insulating material (whichmay, in some examples, be vacuum compatible), for example to provide asurface to apply shielding, increase thermal performance, provideelectrical insulation for any exposed electrical part (e.g. busbars ofthe armature coils 321, 322 as described in more detail below withrespect to FIGS. 11A. 11B and 11C), electrical insulation, increasemechanical stiffness, increase durability, and the like. In some ofthese examples, the mover device 111 may further comprise areinforcement member, which may be external to the electricallyinsulating material, and/or internal to the mover device 111, and whichruns along any suitable edge of the cold plate 301, including but notlimited to, an edge of the cold plate 301 to which slits extend from theslots 305 (e.g. to reduce eddy currents in the cold plate) as describedin more detail below with respect to FIG. 9. A reinforcement member isdescribed in more detail with respect to FIG. 16.

In yet further examples, the mover device 111 may be at least partiallyclad with conductive shielding to avoid plasma generation as the moverdevice 111 moves through the wall 101, for example to contain electricfields within the mover device 111; for example such conductiveshielding may be at an outside of the electrically insulating material.

Attention is next directed to FIG. 5A and FIG. 5B which respectivelydepict a side and cross-sectional view of a portion of the HLSM 200including a portion of the mover device 111 and two channel segments105, along with magnetic flux paths that occur during operation of theHLSM 200. In FIG. 5A, the mover device 111 is again depicted without thefield coils 330 to show the armature coils 321, 322.

FIG. 5A and FIG. 5B depict respective loops 501 of magnetic fluxproduced by electrical current flowing through the field coils 330, forexample through each of the channel segments 105, gaps 318, and one ormore respective ferromagnetic cores 307 located in a hollow portion 201of a channel segment 105. In particular, FIG. 5B is through across-section of the portion of the mover device 111 of FIG. 5A throughwhich a loop 501 of magnetic flux is depicted.

Hence, as best seen in FIG. 5B, due to the “C” shape of the channelsegment 105, and one or more of the ferromagnetic cores 307 being in thehollow portion 201, a loop 501 of the magnetic flux forms a closed looparound a channel segment 105 through one or more of the ferromagneticcores 307. In particular, a loop 501 of magnetic flux flows along ad-axis (e.g. a “direct” direction) at about a center of a channelsegment 105. A d-axis is similar to a d-axis of “dq” concepts used todescribe field-oriented control of electric machines and/or rotarymachines.

A loop 501 of magnetic flux is generally about perpendicular to themovement axis 303 of the mover device 111. Put another way, a field fluxpath (e.g. a path and/or a loop 501 of magnetic flux produced by thefield coils 330) closes substantially perpendicular to a direction ofmotion of the mover device 111. While the loops 501 of magnetic flux aredepicted as lines, it is understood that the magnetic flux that formsthe loops 501 has a three-dimensional shape, a cross-section of which isdepicted in FIG. 6 below.

FIG. 5B further depicts a cross-sectional shape of a channel segment105, which may be chamfered to remove mass therefrom and to generallyreduce weight of a channel segment 105. Suitable chamfering and/or asuitable shape of a channel segment 105 may be further selected to shapea loop 501 of magnetic flux, and/or ensure that a shape of a loop 501 ofmagnetic flux is not adversely affected by chamfering, and the like.

FIG. 5A and FIG. 5B further depicts loops 503 of magnetic flux producedby electrical current flowing through the armature coils 321, 322, forexample through the channel segments 105, gaps 318, and one or more ofrespective ferromagnetic cores 307 located in a hollow portion 201 of achannel segment 105. For example, a loop 503 of magnetic flux isgenerally about parallel to the movement axis 303 of the mover device111. Put another way, an armature flux path (e.g. a path and/or a loop503 of magnetic flux produced by the armature coils 321, 322) closessubstantially parallel to a direction of motion of the mover device 111.Such a loop 503, and the like, may be referred to as a pole pair and/ora loop 503 may generally represent a pole pair.

FIG. 5A further depicts loops 504 of magnetic flux produced byelectrical current flowing through the armature coils 321, 322, forexample through gaps 203 between adjacent channel segments 105, and oneor more of the ferromagnetic cores 307.

As best seen in FIG. 5A, the loops 503, 504 of the magnetic flux eachform a respective closed loop. In particular the loops 503 of themagnetic flux flow through a q-axis (e.g. a quadrature direction) on aside of a channel segment 105, for example at an edge of a gap 203between the channel segments 105. A q-axis is generally perpendicular toa respective gap 203 between the channel segments 105 A q-axis issimilar to a q-axis of “dq” concepts used to describe field-orientedcontrol of electric machines and/or rotary machines.

As depicted, the loops 501 of magnetic flux, due to the field coils 330,interact with respective loops 503 of magnetic flux, due to the armaturecoils 321, 322 to induce forces 590 on the mover device 111 as themagnetic flux at a d-axis (e.g. of the loops 501) and the magnetic fluxat a q-axis (e.g. of the loops 503) “attract” each other (e.g. being asame direction). While forces may also occur in a direction opposite tothe forces 590, such forces tend to be very small compared to the forces590.

Attention is next directed to FIG. 6 which depicts a graph 600 showing acurve 601 of magnetic flux density due to the field coils 330 as afunction of distance along the movement axis 303 and/or a moverdirection, and a curve 603 of magnetic flux density due to a pole pair,for example as controlled using the armature coils 321, 322. Asdepicted, the “0” magnetic flux density axis of the curve 603 is offsetfrom the “0” magnetic flux density axis of the curve 601 to better showa relative position of the curve 603 to the curve 601. As shown, amaximum of the curve 603 is located at a “q” axis, similar to FIG. 5A,and a minimum of the curve 603 is located at a similar position at anopposite side of the curve 601. The center of the curve 601 of magneticflux density due to the field coils 330 is located at a “d” axis,similar to FIG. 5A. In general the d and q axes may be referred to asbeing parallel, but 90° apart in electrical angle. A direction of amagnetic force Fx, which corresponds to a force 590, is also depicted.

While dimensions of a pole pair and/or a channel segment 105 are notdepicted in FIG. 6, in some examples length of a pole pair (e.g. asrepresented by the curve 603) may be in a range of about 100 mm to about1000 mm, for example along the movement axis 303 and/or a moverdirection of a mover device 111, however longer and/or shorter lengthsof a pole pair are within the scope of the present specification;indeed, any suitable length of a pole pair is within the scope of thepresent specification. A dimension of a channel segment 105 along thetrack 103 (e.g. a width of a channel segment) may hence be about half alength of a pole pair. However, a ratio of a dimension (e.g. a width) ofa channel segment 105 along the track 103 to a length of a pole pair maybe any suitable value between 0 and 1, and may be determinedexperimentally, heuristically, and the like. In other words while, asdepicted in FIG. 6, such a ratio may be about “0.5”, such a ratio may beany suitable value. Similarly, a corresponding dimension of the gap 203between channel segments 105 (e.g. a width of a gap 203 between channelsegments 105 along the track 103) may be larger or smaller than adimension (e.g. a width) of a channel segment 105 along the track 103.

Hence, a pitch of a pole pair may be similar to, and/or about the sameas, a pitch of the channel segments 105; hence, a pitch and/or geometry,and electrical operation, of the ferromagnetic cores 307 and armaturecoils 321, 322 of the mover device 111 may be selected to be compatiblewith a pitch and/or geometry of the channel segments 105, and/or viceversa.

It is generally understood that the armature coils 321, 322 may becontrolled such that the magnetic pole pairs are in a fixed positionrelative to the channel segments 105 and/or the track 103, as the moverdevice 111 moves therebetween. In other words, as the mover device 111moves along the track, the armature coils 321, 322 are controlled suchthat pole pairs of the mover device 111 are located in about a sameposition relative to the channel segments 105, though the pole pairs maybe positioned to reduce back electromotive force (EMF) which may dependon speed of the mover device 111. For example, at “slow” speeds, a peakof a pole pair may be located at the q-axis; however, as the moverdevice 111 increases in speed, a back EMF may develop and the armaturecoils 321, 322 may be controlled (e.g. by controlling current and/orvoltage thereto) such that a peak of a pole pair moves to the “right” ofthe q-axis (i.e. further away from the d-axis) to adjust the magneticflux of the mover device 111 to positions where EMF is reduced and/orwhere more flux is produced. Speeds at which to move the peak, as wellas currents and/or voltages to move the peak, may be determinedexperimentally and/or heuristically, and/or using electrical models, andthe like.

Attention is next directed to FIG. 7 which depicts a schematic blockdiagram of electrical components which may be used to control the moverdevice 111 of the HLSM 200, along with flux produced by the armaturecoils 321, 322 and the field coils 330. FIG. 7 further depicts examplepositions of channel segments 105 relative to pole pairs of the moverdevice 111. Electrical connections in FIG. 7 are depicted as solid linesbetween components, while data connections between are depicted asdouble ended arrows. FIG. 7 also generally depicts a process for usingthe HLSM 200 as a propulsion system for the high-speed transport system100 which may be in a low-pressure environment and/or not in alow-pressure environment, as described previously.

In FIG. 7, the armature coils 321, 322 (e.g. around the ferromagneticcores 307 (not depicted, but understood to be present) are controlled toproduce “M” number of pole pairs (where “M” is an integer), as depicteda Pole Pair 1, a Pole Pair 2, . . . Pole Pair M, resulting in respectivemagnetic fluxes along the movement axis 303. While the mover device 111in FIG. 7 is described with respect to three pole pairs (e.g. M=3), themover device 111 may include as few as one pole pair, two pole pairs, ormore than three pole pairs.

The respective magnetic fluxes of each of the pole pairs are alsodepicted, and respectively labelled as PP1, PP2, . . . PPM. The magneticfluxes PP1, PP2, . . . PPM are similar to the curve 603, with peaks ofthe magnetic fluxes PP1, PP2, . . . PPM being located at a respectiveq-axis, and the like. Positions of channel segments 105 relative to thepole pairs are also depicted, with an excitation flux Φ_(f) depicted foreach channel segment 105 (e.g. at a d-axis) as produced by the fieldcoils 330. While only field coil 330 is depicted in FIG. 7, both fieldcoils 330-1, 330-2 are understood to be present in the depicted example.

As depicted, the first armature coils 321 and the second armature coils322 are electrically connected to, and/or in communication with, atleast one armature controller 701-1, 701-2, . . . 701-M. The armaturecontrollers 701-1, 701-2, . . . 701-M are interchangeably referred tohereafter, collectively, as the armature controllers 701 and,generically, as an armature controller 701. As depicted, there are asame number “M” of armature controllers 701 as pole pairs, however theremay be any suitable number of armature controllers 701, which may be asame or different as a number of pole pairs.

The armature controllers 701 are configured to control the firstarmature coils 321 and the second armature coils 322 as a multiphaseelectrical device and/or system, and in particular a 3-phase electricaldevice and/or system, such that the first armature coils 321 and thesecond armature coils 322 and the ferromagnetic cores 307 are controlledto form a magnetic pole pair (and/or magnetic pole pairs), for examplein conjunction with adjacent channel segments 105. The armaturecontrollers 701 may be integrated with a mover device 111 and/or thearmature controllers 701 may be located at the payload 107 andelectrically connected to the first armature coils 321 and the secondarmature coils 322 via electrical connections between the payload 107and the mover device 111.

While present examples are described with reference to a 3-phaseelectrical device and/or system, the armature controllers 701 may beconfigured to control the first armature coils 321 and the secondarmature coils 322 as an electrical device of any suitable number ofphases.

Furthermore, an armature controller 701 may comprise a computing device,one or more processors (and the like), a power supply, and/or any othersuitable components for controlling the armature coils 321, 322.Furthermore, while not depicted, the armature controllers 701 may be incommunication with another controller and/or computing device whichgenerally controls and/or coordinates the armature controllers 701including, but not limited to, a controller and/or computing device of anavigation system operated by an operator and/or driver of the payload107, however such a navigation system may alternatively comprise anautonomous (e.g. driverless) navigation system.

As depicted one armature controller 701 per pole pair is provided.Furthermore, as depicted, each pole pair includes twelve armature coils321, 322, for example four armature coils 321, 322 controlled accordingto each of an “A” phase, a “B” phase and a “C” phase (the armature coils321, 322 labelled according to a respective phase). For example, a groupof four armature coils 321, 322 of a given phase may include two firstarmature coils 321 and two second armature coils 322. However, a polepair may be formed by any suitable number of armature coils 321, 322 andit is understood that twelve armature coils 321, 322 per pole pair aredepicted merely as one example.

In the depicted examples, the “A” phase armature coils 321, 322 areconnected in series, the “B” phase armature coils 321, 322 are connectedin series, and the “C” phase armature coils 321, 322 are connected inseries. While three phases are depicted, as described above, othernumbers of phases may be present with the armature controllers 701adapted accordingly. As depicted the various different phases ofarmature coils 321, 322 share a common electrical return path and/or acommon neutral point (e.g. depicted schematically at a right side of thepole pairs); for example, the phases may be connected in a starconfiguration. However any suitable configuration for connecting thephases is within the scope of the present specification including, butnot limited to, configurations with a common electrical return pathand/or a common neutral point, and configurations without a commonelectrical return path and/or a common neutral point such as a deltaconfiguration, and the like.

An armature controller 701 may include power sources, such as respectivebatteries and the like which may be located at the mover device 111and/or at the payload 107. Put another way, the various groups ofarmature coils 321, 322 (e.g. grouped by pole pair) may include multiplepower sources. An armature controller 701 may comprise a relatively lowpower and/or low voltage drive (e.g. with maximum voltages of less thanabout 1 kV), rather than a conventional high power drive (e.g. which mayoperate at voltages greater than 1 kV) supplying power to an entirepropulsion system. Each armature controller 701 and/or low power drivemay be connected to one or more of the pole pairs.

As depicted, the at least one field coil 330 is electrically connectedto, and/or in communication with, at least one field coil controller 702configured to form a loop of magnetic flux about perpendicular to thecold plate 301, as described above. In particular, the field coils 330may be connected in series, though the field coils 330 may alternativelybe connected in parallel. The field coil controller 702 may beintegrated with a mover device 111 and/or the field coil controller 702may be located at the payload 107 and electrically connected to the atleast one field coil 330 via electrical connections between the payload107 and the mover device 111.

Furthermore, the field coil controller 702 may comprise a computingdevice, one or more processors (and the like), a power supply (e.g.batteries, and the like), and/or any other suitable components forcontrolling the at least one field coil 330, which may be located at themover device 111 and/or at the payload 107. Furthermore, while notdepicted, the armature controllers 701 (and/or the field coil controller702) may be in communication with another controller and/or computingdevice which generally controls and/or coordinates the armaturecontrollers 701 (and/or the field coil controller 702) including, butnot limited to, the controller and/or computing device of the navigationsystem as described above.

As depicted, the armature controllers 701 are in communication with aposition sensor 703 configured to determine a position of the moverdevice 111 relative to the channel segments 105 and to output, to thearmature controllers 701, a position 704 which may comprise a “rotor”position of the mover device 111 relative to the channel segment 105.Such a “rotor” position may comprise a position to which peaks of themagnetic fluxes PP1, PP2, . . . PPM are to be controlled, for examplerelative to the mover device 111, such as a q-axis, and/or any othersuitable relative (or absolute) position. Put another way, at least onearmature controller 701 may be in communication with the position sensor703, the position sensor 703 configured to determine the position 704used to control a respective position of at least one magnetic polepair.

The position sensor 703 may be integrated with a mover device 111 and/orthe position sensor 703 may be located at the payload 107.

The position sensor 703 may comprise one or more of a laser-basedposition determining device, a radar-based position determining device,a video-based position determining device, field-based positiondetermining device (e.g. which determined position from perturbations inthe magnetic fields and/or fluxes, for example as represented by theloops 501, 503 described above), and the like.

The armature controllers 701 are configured to receive the position 704and control the magnetic fluxes PP1, PP2, . . . PPM of the pole pairsaccordingly by controlling voltage, current and/or phase of the armaturecoils 321, 322. In some examples the magnetic fluxes PP1, PP2, . . . PPMof the pole pairs are controlled such that a peak is at a respectiveq-axis though the position may change with speed of the mover device111. As the mover device 111 moves relative to the channel segments 105,the peaks of the magnetic fluxes PP1, PP2, . . . PPM may be maintainedat q-axes (and/or a changed according to speed). As a front pole air ofthe mover device 111 encounters a next channel segment 105, for exampleas determined from the position 704, and the field coils 330 produce amagnetic flux in the next channel segment 105, an armature controller701 controls the front pole pair such that a peak of a respectivemagnetic flux PP is located at a q-axis, and the like, of the nextchannel segment 105. Put another way, the combination of the magneticfluxes PP1, PP2, . . . PPM, as depicted in FIG. 7, may “appear” to be astanding wave with respect to the channel segments 105, and hence maygenerally “move” relative the mover device 111.

Furthermore, while the mover device 111 is described with respect to a“front” and/or “rear” and the like, it is understood that the moverdevice 111 may be controlled to move in in either direction along themovement axis 303 such that pole pairs at opposite ends of the moverdevice 111 may be front pole pair and/or a first pole pair, and/or arear pole pair and/or a last pole pair, depending on a direction offorce on the mover device 111 (e.g. a direction of the force 590). Forexample, the armature controllers 701 may be configured to invert themagnetic fluxes PP1, PP2, . . . PPM with respect to as depicted in FIG.7 to reverse a direction of force of the mover device 111 which mayresult in one or more of braking of the mover device 111 and/or areversal of a direction of movement of the mover device 111.

While examples heretofore have been described with respect to the moverdevice 111 having one cold plate 301, the mover device 111 may beadapted to include more than one cold plate. For example, attention isnext directed to FIG. 8 which depicts a portion of an alternative HLSM800 that includes an alternative mover device 811 located in a channelsegment 105, and separated from the channel segment 105 by gaps 318. Themover device 811 includes a plurality of cold plates 301-1, 301-2, forexample similar to the cold plate 301, ferromagnetic cores (e.g.ferromagnetic cores 807-1, 807-2), and a plurality, and/or layers, ofarmature coils 321, 322, 823, (e.g. including the first armature coils321 and the second armature coils 322 as described above, and additionalarmature coils 823). While only two ferromagnetic cores 807-1, 807-2 arenumbered for simplicity, it is understood that the mover device 811includes any suitable number of ferromagnetic cores 807-1, 807-2 whichextend through respective slots in the cold plates 301, similar to asdescribed above with respect to the ferromagnetic cores 307 and theslots 305. In other words, while slots of the cold plates 301 of themover device 811 are not depicted, it is understood that each of thecold plates 301 of the mover device 811 includes slots which are alignedsuch that a respective ferromagnetic core 807-1, 807-2 extends throughall of the cold plates 301. For example, as depicted the two cold plates301-1, 301-2 may trisect the ferromagnetic cores 807-1, 807-2 (e.g.divide the 807-1, 807-2 into three about equal portions).

The plurality of cold plates 301 and the plurality of armature coils321, 322, 823 are alternating such that a given cold plate 301 isbetween a pair of layers of armature coils 321, 322, 823. For example,the cold plate 301-1 is between layers of the armature coils 321, 322,and the cold plate 301-2 is between layers of the armature coils 322,823. The armature coils 321, 322, 823 are also labelled with respect totheir phase (e.g. “A”, “B”, “C”) similar to as described above. It isunderstood from FIG. 8 that while the armature coils 321, 322 havemirror symmetry with respect to the cold plate 301-1, the armature coils823 are not symmetric with the adjacent armature coils 321; however,armature coils 823 of a given phase are aligned with armature coils 321,322 of the given phase along the ferromagnetic cores 807 in a directionof the cold plates 301.

Hence, in general, the mover device 811 is similar to the mover device111 but includes an additional cold plate 301 and an additional layer ofarmature coils 823 (e.g. which may be referred to as third armaturecoils 823 and/or a third layer of armature coils 823 and/or a third setof armature coils 823). The armature coils 823 may be controlled in asimilar manner to the armature coils 321, 322 as described with respectto FIG. 5A, FIG. 5B, FIG. 6 and FIG. 7.

While not depicted in FIG. 8, it is understood that the mover device 811further includes any suitable number of field coils 330.

Furthermore, additional cold plates and layers (and/or sets) of armaturecoils may be added to the mover device 811 (and/or the mover device111), for example as a pair of a cold plate and a corresponding layer(and/or set) of armature coils.

Hence, also provided herein is a mover device comprising: one or morecold plates; a plurality of layers of armature coils, the one or morecold plates and the plurality of layers of armature coils alternatingand/or arranged such that a given cold plate is between a pair of layersof armature coils; and a plurality of ferromagnetic cores which extendthrough respective slots in the one or more cold plates, the pluralityof layers of armature coils located around the plurality offerromagnetic cores with, for example, armature coils of respectivephases aligned along the plurality of ferromagnetic cores from layer tolayer. However, other configurations and/or arrangements of cold platesand armature coils are within the scope of the present specification;for example, a mover device may include two layers of armature coilswith a cold plate therebetween, and a third layer (or more) of armaturecoils adjacent one (or more) of the two layers of armature coils withouta second cold plate, with the armature coils of all three layers ofarmature coils around common ferromagnetic cores which extend throughslots of the cold plate. Alternatively, a mover device may include afirst structure comprising two layers of armature coils with a coldplate therebetween, and a second structure comprising two further layersof armature coils with a further cold plate therebetween, slots of thecold plates being aligned, with common ferromagnetic cores extendingtherethrough; the armature coils of the first structure and the secondstructure are around the ferromagnetic cores. Indeed, any mover devicethat includes two layers of armature coils with a cold platetherebetween, the armature coils of the two layers around commonferromagnetic cores which extend through slots of the cold plate, iswithin the scope of the present specification, and which may includeadditional layers of armature coils around the ferromagnetic coresand/or additional cold plates with respective slots through which theferromagnetic cores extend.

Attention is next directed to FIG. 9 which depict details of the coldplate 301. In particular, FIG. 9 depicts a perspective view of the coldplate 301 in the absence of armature coils, field coils, andferromagnetic cores. From FIG. 9, it is understood that the cold plate301 may be rectangular and that the slots 305 are rectangular, and/orcomplementary to geometry and/or shape and/or cross-sectional shape ofthe ferromagnetic cores 307. It is further understood that the slots 305are arranged aligned with each other along the movement axis 303.

While not depicted, the cold plate 301 may include at least one coolingchannel on a face and/or a side thereof which may be formed in anysuitable manner.

Furthermore, the cold plate 301 may be made of a metal with any suitablethermal and electrical properties such as aluminum, copper, titanium,magnesium, stainless steel, and the like. Hence, the armature coils 321,322 and field coils 330 may be substantially in contact with the coldplate 301, and/or at least partially in contact with the cold plate 301,such that heat is transferred out of the armature coils 321, 322 andfield coils 330 and into the cold plate 301 and which may be at leastpartially removed via cooling channels of the cold plate 301.

The cold plate 301 may further comprises gaps and/or slits 920 thatextend from the slots 305 to one or more edges of the cold plate 301.The slits 920 are generally substantially narrower than the slots 305and are provided to form “fingers” and/or “teeth” which extend from theslots 305 to reduce eddy currents in the cold plate 301 and/or aroundthe slots 305, which may occur when the cold plate 301 is exposed tochanging magnetic flux during operation of the mover device 111. Putanother way, the cold plate 301 may include a “toothed” geometry, withgaps and/or slits 920 across the cold plate 301.

Furthermore, while a particular geometry of the slits 920 are depicted,the slits 920 may have any suitable geometry that may be used to reduceeddy currents.

Attention is next directed to FIG. 10A, FIG. 10B and FIG. 10C whichdepict details of the ferromagnetic cores 307. In particular, FIG. 10Adepicts a perspective view of the cold plate 301 with the ferromagneticcores 307 attached thereto, for example as inserted through respectiveslots 305, and attached to the cold plate 301 using mounting brackets1007 which attach to both a ferromagnetic core 307 and to (for example)apertures (not depicted) at ends of the slots 305. In the depictedexample, there are twenty-five ferromagnetic cores 307 inserted througha corresponding number of the slots 305 in the cold plate 301. Themounting brackets 1007 may be of any suitable material, such asstainless steel, PTFE brackets, and the like, and/or any suitablenon-ferromagnetic material.

FIG. 10B depicts a perspective view of a ferromagnetic core 307 with twomounting brackets 1007 mounted there to, for example on opposing shortsides 1008 of the ferromagnetic core 307 which join longer opposingfaces 1009 (only one of which is visible in FIG. 10B). With briefreference back to FIG. 10A, the faces 1009 are generally located in adirection of the movement axis 303 when mounted to the cold plate 301,and form the gaps 308 between the ferromagnetic cores 307; faces 1009 ofthe ferromagnetic cores 307 are hence generally about parallel to eachother when the ferromagnetic cores 307 are mounted to the cold plate301. The armature coils 321, 322 are generally located around the shortsides 1008 and the faces 1009.

Returning to FIG. 10B, the ferromagnetic cores 307 further includeopposing outer surfaces 1010 which may form a “top” and “bottom” of aferromagnetic core 307 and which are joined to the opposing short sides1008 and opposing faces 1009. The outer surfaces 1010 form respectivegaps 318 with a channel segment 105.

With further reference to FIG. 10B, the ferromagnetic core 307 mayfurther include optional grooves 1011 that extend along the opposingfaces 1009, for example between the opposing short sides 1008, toprovide a mechanism to retain, for example, a slot wedge of a retentiondevice 399 as described in more detail below with respect to FIG. 15.

A ferromagnetic core 307 may be laminated to reduce eddy currents. Forexample, FIG. 10C depicts an example of a lamination portion 1017 of aferromagnetic core 307 which may comprise silicon steel, cobalt steeland the like and which may be coated with an electrically insulatingcoating, and the like. The lamination portion 1017 may be formed usingstamping and/or any other suitable process. A plurality of thelamination portions 1017 may be joined and/or bonded together in a stackto form a ferromagnetic core 307, for example using bolts and/or pins(not depicted), extending through apertures 1018 in the laminationportions 1017. A position of grooves 1021 in the lamination portion 1017is also indicated which, when a plurality of the lamination portions1017 are joined, form the grooves 1011; it is hence understood that aferromagnetic core 307 may be laminated in a direction perpendicular tothe movement axis 303.

Attention is next directed to FIG. 11A, FIG. 11B and 11C which depictdetails of the stepped armature coils 321, 322. In particular, FIG. 11Adepicts a perspective view of the cold plate 301 with the ferromagneticcores 307 and armature coils 321, 322 attached thereto. While in FIG.11A only the armature coils 321 are visible, it is understood that thearmature coils 322 are also attached to the cold plate 301, for exampleat a side opposite that depicted in FIG. 11A. For example, FIG. 11A maydepict the first side 311 of the cold plate 301, and the second side 312of the cold plate 301 is “under” the first side 311 in the orientationof FIG. 11A.

Indeed, considered together, FIG. 9, FIG. 10A and FIG. 11A show a methodof assembling at least a portion of the mover device 111, for example byinserting the ferromagnetic cores 307 through the slots 305 andattaching the ferromagnetic cores 307 to the cold plate 301 via themounting brackets 1007, as from FIG. 9 to FIG. 10A, and placing thestepped armature coils 321, 322 around the ferromagnetic cores 307, asfrom FIG. 10A to FIG. 11A.

FIG. 11B depicts a “top” perspective view of a stepped armature coil321, and FIG. 11C depicts a “bottom” perspective view of the steppedarmature coil 321 of FIG. 11B; while a stepped armature coil 322 is notdepicted, a stepped armature coil 322 is understood to be similar to thestepped armature coil 321 of FIG. 11B and FIG. 11C. The terms “top” and“bottom” are used in conjunction with the orientation of the moverdevice 111 depicted in FIG. 11A and it is understood that steppedarmature coils 321 may be provided in any suitable orientation.Furthermore, the orientation of the stepped armature coil 321 in FIG.11C has been selected to emphasize certain features such as angledportions described below.

As previously described, and with reference to FIG. 11B and 11C, thestepped armature coil 321 comprises three steps 325-1, 325-2, 325-3which are arranged along a first axis 1111 and a second axis 1112 aboutperpendicular to the first axis 1111. When the stepped armature coil 321is attached to the cold plate 301, and for example surrounds twoferromagnetic cores 307, the first axis 1111 is about perpendicular tothe movement axis 303 of the cold plate 301, and the second axis 1112 isabout parallel to the movement axis 303 of the cold plate 301.

It is apparent from FIG. 11B and FIG. 11C that the first step 325-1 andthe third step 325-3 are each of a similar length, and run parallel tothe first axis 1111. However, the second step 325-2 comprises respectiveportions 325-2-1, 325-2-2 that are joined to each of the first step325-1 and the third step 325-3 on opposite sides of the stepped armaturecoil 321, via respective angled portions 1150 (as best seen in FIG.11C), and along the second axis 1112.

Furthermore, the steps 325-1, 325-2, 325-3 are offset from one anotherin along a third axis 1113 (as best seen in FIG. 11C) that isperpendicular to the first axis 1111 and the second axis 1112, such thatadjacent stepped armature coils 321 may be stacked laterally, with thethird step 325-3 adjacent a respective second step of an adjacentstepped armature coil, and the second step 325-2 adjacent a respectivefirst step of the adjacent stepped armature coil. Such an arrangementallows for compact placement of the armature coils 321, 322 in the moverdevice 111. Furthermore the third axis 1113 is about normal to the coldplate 301 when the stepped armature coil 321 is mounted thereon.

While the stepped armature coil 321 is depicted with three steps, astepped armature coil may include any suitable number of steps. Inparticular a number of steps of a stepped armature coil may correspondto a number “N” of the ferromagnetic cores 307 around which a steppedarmature may be placed, plus one (e.g. “N+1”, where “N” is an integer).For example, the stepped armature coil 321 is configured to be aroundtwo ferromagnetic cores 307 and hence the stepped armature coil 321includes three steps 325.

However, a stepped armature coil may be configured to be around oneferromagnetic core 307 and may include two steps, for example a firststep across a first face 1009, of the one ferromagnetic core 307, at thecold plate 301, and a second step across a second face 1009, of the oneferromagnetic core 307 (e.g. opposing the first face 1009), at an outersurface 1010; angled portions may join the first step and the secondstep along the short sides 1008.

Similarly, a stepped armature coil may be configured to be around threeferromagnetic cores 307 and may include four steps, for example: a firststep across a face 1009, of a first ferromagnetic core 307, at the coldplate 301; second and third steps (e.g. similar to the second step325-1, the second and third steps include portions on opposite sides ofthe four step armature coil) at respective gaps 308 between the firstand second ferromagnetic cores 307, and between the second and thirdferromagnetic cores 307; and a fourth step at a respective face 1009 ofthe third ferromagnetic core 307 (e.g. opposing the face 1009 of thefirst ferromagnetic core) at an outer surface 1010 the thirdferromagnetic core 307. First angled portions may join the first step tothe second step along short sides 1008 of the first ferromagnetic core307; second angled portions may join the second step to the third stepalong short sides 1008 of the second ferromagnetic core 307; and thirdangled portions may join the third step to the fourth step along shortsides 1008 of the second ferromagnetic core 307.

Indeed, a two-step armature coil may be for “concentrated” windings(e.g. with armature coils around one ferromagnetic core), a three steparmature coil may be for “short pitch” windings (e.g. with armaturecoils around two ferromagnetic cores), and four step armature coil maybe for “full pitch” windings (e.g. with armature coils around threeferromagnetic core).

While stepped armature coils are described above with respect to anumber of steps of corresponding to “N+1” of the ferromagnetic cores307, a stepped armature coil may have other numbers of steps including,but not limited to N+2, N+3 . . . etc., of the ferromagnetic cores 307.

As depicted, the stepped armature coil 321 comprises electrical leads1180-1, 1180-2 which connect to electrical loops therein, such that anarmature controller 701 may be connected thereto, for example, theelectrical leads 1180-1, 1180-2 may be connected to opposite electricalends of the electrical loops. The electrical leads 1180-1, 1180-2 maycomprise any suitable electrical leads and/or busbars and/or conductivemembers which may be used to electrically connect the stepped armaturecoil 321 as described herein. As depicted, the electrical lead 1180-1extends to a side of the stepped armature coil 321 in a direction of thefirst axis 1111, at about a level of the first step 325-1, and theelectrical lead 1180-2 extends to the same side of the stepped armaturecoil 321 at about a level of the third step 325-3. Hence, when thestepped armature coils 321 are around the ferromagnetic cores 307, theelectrical leads 1180-1, 1180-2 may be electrically connected and/orjoined to other stepped armature coils 321 of a same phase, for exampleusing any suitable wiring scheme, electrical connectors and the like.Such electrical joining may occur along a length of the cold plate 301,for example along the movement axis 303.

While not depicted, a stepped armature coil 321 may further comprise abusbar, and the like, which may extend from an electrical lead 1180along the movement axis 303. A busbar may be electrically connected(e.g. using any suitable fastener such as bolts and the like) to anelectrical lead 1180 of another stepped armature coil 321 for example toform at least a portion of electrical connections between the armaturecoils 321, 322 as depicted in FIG. 7.

A stepped armature coil 321 may be manufactured in any suitable mannerusing, for example, suitably shaped blocks and/or forms and/or tools (toform a shape thereof), annealing, resins and the like. An electricallead 1180 and/or a busbar, and the like, may be brazed and/or soldered,and the like, to a wire, and the like, of the stepped armature coil 321that form the electrical loops. The stepped armature coil 321 may bewrapped in an insulating material, such as polyamide enamel, polyamidetape, mica tape, and the like, as described above, though conductingmaterial of the stepped armature coil 321 may have an insulatingcoating, such as aluminum oxide of anodized aluminum foil.

While examples described heretofore have been described with respect tostepped armature coils 321, 322, armature coils of any suitableconfiguration are within the scope of the present specification. Indeed,with reference to FIG. 11A, while first two and last two ferromagneticcores 307 along the movement axis 303 include one respective steppedarmature coil 321 therearound, such stepped armature coils 321 may bereplaced by armature coils of other geometries including, but notlimited to, flat armature coils. Such flat armature coils may further beused in place of stepped armature coils in mover devices as describedherein.

For example, attention is next directed to FIG. 12A and FIG. 12B whichdepict an HLSM 1200 comprising the channel segments 105 and a moverdevice 1211 which comprises armature coils 1221, 1222 which are notstepped, the cold plate 301, the ferromagnetic cores 307, and at leastone field coil 330, which may be adapted to the geometry of the moverdevice 1211. FIG. 12A depicts a cross-section of a portion of the moverdevice 1211 to show an arrangement of the armature coils 1221 relativeto the ferromagnetic cores 307, and FIG. 12B depicts a perspective viewof the armature coils 1221 relative to the ferromagnetic cores 307.While a perspective view of the armature coils 1222 is not depicted, itis understood that the armature coils 1221, 1222 are arranged as mirrorimages of each other relative to the cold plate 301 therebetween, forexample as best seen in FIG. 12B.

In contrast to the stepped armature coils 321, 322, the armature coils1221, 1222 are flat, and a layer of the armature coils 1221 (and/or thearmature coils 1222) may be formed from sublayers of the armature coils1221, for example relative to the cold plate 301 (e.g. and aboutparallel thereto) and/or the ferromagnetic cores 307. For example, FIG.12A and FIG. 12B respectively depict a cross-sectional view and aperspective view of three sublayers of the armature coils 1221, eachsublayer operated at a corresponding phase as described above. Thecross-sectional view of FIG. 12A is through a length of the perspectiveview of FIG. 12B.

For example, armature coils 1221 in a first sublayer are labelled as “A”to indicate they may be operated in an “A” phase, armature coils 1221 ina second sublayer are labelled as “C” to indicate they may be operatedin an “C” phase, and armature coils 1221 in a third sublayer arelabelled as “B” to indicate they may be operated in an “B” phase. Thearmature coils 1222 are similarly labelled according to phase.Furthermore different armature coils 1221, 1222 of a same phase arelabelled as A1, A2, A3 etc. in each of FIG. 12A and FIG. 12B forcomparison. For example, the depicted armature coils 1221 in FIG. 12Aare labelled A1, A2, A3, B1, B2, C1, C2, and the depicted armature coils1222 in FIG. 12A are labelled A4, A5, A6, B3, B4, C3, C4 (e.g. as three“A” phase armature coils 1221, 1222, and two of each of “B” phase and“C” phase armature coils 1221, 1222 are visible in FIG. 12A).Furthermore while not all the armature coils 1221, 1222 are labelled itis understood the armature coils 1221 in a same respective sublayer areoperated at a same phase, and the armature coils 1222 in a samerespective sublayer are operated at a same phase. Furthermore, asdepicted, the armature coils 1222 may be arranged in a mirror image ofthe armature coils 1221, with respect to the cold plate 301.

Put another way, the armature coils 1221, 1222 which, when viewed from across-section, may be arranged in sublayers, such that all armaturecoils 1221, 1222 of the same phase may be a same distance from aferromagnetic core surface (which, in these examples, may refer to aside of a ferromagnetic core 307 that is furthest from the cold plate301), and armature coils 1221, 1222 of different phases may be differentdistances from a ferromagnetic core outer surface (e.g. relative to thecold plate 301). A portion of a first armature coil 1221, 1222 in afirst sublayer may overlap a portion of a second armature coil 1221,1222 in a second sublayer, which may provide a short pole pitch as aresult.

Each armature coil 1221 is around two adjacent ferromagnetic cores 307,and armature coils 1221 in adjacent sublayers are offset laterally byone ferromagnetic core 307, which results in two armature coils 1221 ofdifferent phases being around a ferromagnetic core 307. Such anarrangement may be referred to as a three-layer integer winding with a ⅔short pitch; while the armature coils 1221 may be easier to manufacturethan the stepped armature coils 321, 322, the armature coils 1221 may bemore challenging to operate electrically in a mover device, for exampleto generate pole pairs, as the various electrical phases are at thedifferent levels which may lead to complex and/or asymmetric drivingvoltages relative to driving voltages for the stepped armature coils321, 322.

In yet further examples, a cold plate may be incorporated into a layerof the armature coils 1221, and/or a layer of the armature coils 1222.For example such a cold plate may be between adjacent sublayers of thearmature coils 1221 and/or such a cold plate may between adjacentsublayers of the armature coils 1222. Such a cold plate may replace thecold plate 301 and/or be in addition to the cold plate 301; regardlesssuch a cold plate has a similar geometry to the cold plate 301 and henceincludes slots 305 through which the ferromagnetic cores 307 extend.

Yet further configurations of armature coils are within the scope of thepresent specification. For example, attention is next directed to FIG.13A and FIG. 13B which respectively depict cross-sectional and top (orbottom) views of a portion of a mover device 1311 that includes a coldplate 301 (e.g. adapted for the geometry and/or operation of the moverdevice 1311), at least one field coil 330, ferromagnetic cores 1307 andarmature coils 1321 that includes concentrated windings (CW) and/orfractional slot concentrated windings (FSCW). The ferromagnetic cores1307 are similar to the ferromagnetic cores 307 but adapted for the CWarmature coils 1321, such that the ferromagnetic cores 1307 are wider atopposing outside surfaces and narrower where the CW armature coils 1321are located. The cross-sectional view of FIG. 13A is through a length ofthe top view of FIG. 13B.

As best seen in FIG. 13A, a CW armature coil 1321 may be located aroundone ferromagnetic core 1307, and adjacent CW armature coils 1321 aredriven according to different electrical phases, for example asindicated by “A”, “B” or “C” at an CW armature coil 1311, similar to thenotation used previously.

Put another way, in some examples of the present specification armaturewindings and/or armature coils, may be configured as concentratedwindings and/or fractional slot concentrated windings, with concentratedwindings distributed throughout ferromagnetic cores located along alength of a rotor/mover device.

Such CW armature coils 1321 may provide high power density and/or highefficiency and/or short end windings and/or good flux weakeningcapability and/or easy manufacturability and/or tight packaging and/oreasier cooling of end windings (e.g. as compared to the stepped armaturecoils 321, 322). However, such CW armature coils 1321 may have highertrack losses and/or higher harmonic content in back EMF and airgap fluxdensity as compared to the stepped armature coils 321, 322. Furthermore,driving voltages thereof may be more complex than that used with thestepped armature coils 321, 322.

In yet further examples a mover device 111 may be adapted to includediamond-shaped armature coils. For example, attention is next directedto FIG. 14A and FIG. 14B which depict cross-sectional and perspectiveviews of a portion of mover device 1411, at least one field coil 330(e.g. adapted for the geometry of the mover device 1411), ferromagneticcores 1407 and armature coils 1421 that are diamond shaped. Theferromagnetic cores 1407 may be similar to the ferromagnetic cores 307but adapted for the geometry of the mover device 1411. Thecross-sectional view of FIG. 14A is through a length of the perspectiveview of FIG. 14B.

As best seen in FIG. 14A, which depicts a cross-section of the diamondarmature coils 1421 and the ferromagnetic cores 1407, a diamond armaturecoil 1421 may be located around three ferromagnetic cores 1407, andadjacent diamond armature coils 1421 are driven according to differentelectrical phases, for example as indicated by “A”, “B” or “C” at adiamond armature coil 1411, similar to the notation used previously.Different diamond armature coils 1421 of a same phase are indicatedusing a notation “A1”, “A2”, etc., similar to FIG. 12A. While, asdepicted, a diamond armature coil 1421 may be located around threeferromagnetic cores 1407 (e.g. “full pitch”), a diamond armature coilmay be adapted to be located around two ferromagnetic cores 1407 (e.g.“short pitch”).

As best seen in FIG. 14A, the diamond armature coils 1421 have ageometry which may enable them to be partially stacked and offset fromeach other at outer surfaces 1410 of the ferromagnetic cores 1407. Forexample, a “C” phase diamond armature coil 1421 “C2” may be around threeferromagnetic cores 1407 at one outer surface 1410 with a next diamondarmature coil 1421 “B2” (e.g. to the right of “C2” in FIG. 14A) stackedonto the diamond armature coil 1421 “C2” at the same outer surface 1410,and offset by one ferromagnetic core 1407. The diamond armature coils1421 also have a step structure such that opposite sides (e.g. steps) ofan armature coil 1421 located in respective gaps between ferromagneticcores 1407 are joined by angled bent portions 1450 that extendsubstantially out from sides of the armature coils 1421, as best seen inFIG. 14B. Furthermore, a given gap between adjacent ferromagnetic cores1407 may include stacked steps of two diamond armature coils 1421 whichmay be operated at a same phase (e.g. portions of diamond armature coils1421 labelled “C2” and “C3” are in a same gap). A similar set of diamondarmature coils 1421 is at an opposing outer surface 1410, the diamondarmature coils 1421 aligned along the ferromagnetic cores 1407 accordingto phase. A field coil 330 may be located between the angled bentportions 1450 of the diamond armature coils 1421 at the opposingsurfaces 1410. While such diamond armature coils 1421 may providefavorable electrical properties they are not as compact as armaturecoils described heretofore (e.g. the stepped armature coils 321, 322)and are harder to integrate with a cold plate (e.g. which is notdepicted in FIG. 14A or FIG. 14B).

Attention is next directed to FIG. 15 which depicts a side perspectiveview of a portion of the mover device 111 that includes the cold plate301, the ferromagnetic cores 307, the armature coils 321, and theretention device 399. In FIG. 15 the field coils 330 are removed to showthe components within the field coils. FIG. 15 further depicts across-section 1503 of a region 1501 that includes ferromagnetic cores307, armature coils 321, and a retention device 399.

In particular, the cross-section 1503 shows that the retention device399 may comprise a slot wedge 399-1, for example retained in a gap 308between adjacent ferromagnetic cores 307 via respective grooves 1011 ofthe adjacent ferromagnetic cores 307. In some examples, a slot wedge399-1 may comprise a ferromagnetic material including, but not limitedto, magnetically impregnated fiberglass material, which may assist inreducing force ripple in the HLSM 200. The slot wedge 399-1 may applypressure against the armature coils 321 in the gap 308, for examplefurther using a ripple spring 159-2, which may be compressed by the slotwedge 399-1 against the armature coils 321, which are in turn compressedtowards the cold plate 301, which may remove and/or draw heat from thearmature coils 321 (i.e. to cool the armature coils 321), as describedabove.

Regions between the armature coils 321 may be at least partially filledwith at least one spacer block 1599. A spacer block 1599 may comprise athermally conductive plastic, and the like, and may be manufacturedusing may be injecting molding and/or any other suitable technique. Sucha spacer block 1599 may improve thermal conduction between an end of anarmature coil 321 in the gap 308 which is not adjacent the cold plate301, and a respective end of a respective armature coil 321 in the gap308 which adjacent the cold plate 301. Put another way, the mover device111 may further comprise one or more spacer blocks 1599 between theferromagnetic cores 307 and between respective armature coils 321located around the ferromagnetic cores 307; the one or more spacerblocks 1599 may be configured to conduct heat from one or more of theferromagnetic cores 307 and the respective armature coils 321 to thecold plate 301.

While functionality of the retention devices 399 and the spacer block1599 is described with respect to the armature coils 321, such retentiondevices 399 and spacer blocks 1599 may be similarly integrated witharmature coils 322 and/or with any other suitable armature coils and/ormover devices described herein.

Attention is next directed to FIG. 16 which depicts the mover device 111in an assembled state. It is understood that, considered together, FIG.9, FIG. 10A, FIG. 11A, FIG. 3 and FIG. 16 show a method of assemblingthe mover device 111 (e.g. FIG. 3 is similar to FIG. 11A but shows thefield coils 330 attached to the mover device 111 prior to a finalassembly of the mover device 111 as depicted in FIG. 16).

In particular, the mover device 111 may further comprise an electricallyinsulating material 1601 encapsulating at least a portion of one or moreof the cold plate 301, the ferromagnetic cores 307, the first armaturecoils 321, the second armature coils 322 and the at least one field coil330.

For example, in FIG. 16, at least a portion of the cold plate 301, theferromagnetic cores 307, the first armature coils 321, the secondarmature coils 322 and the at least one field coil 330 has beenencapsulated using the electrically insulating material 1601. Theelectrically insulating material 1601 may comprise an electricallyinsulating material, and/or combination of materials, which may bevacuum-compatible; the electrically insulating material 1601 mayinclude, but is not limited to, an epoxy, a resin, and the like, andwhich may include a soft materials and/or hard materials. The moverdevice 111 may be encapsulated using any suitable technique including,but not limited to, global vacuum pressure impregnation (VPI), vacuumcasting, auto pressure gelation (APG), and the like.

The mover device 111 may be at least partially coated and/or paintedwith a conductive coating and/or shielding and/or material and/or asemi-conductive coating and/or shielding and/or material 1602 to assistin containing electric fields of the mover device 111, for example toreduce electrical discharge and/or generation of plasma at the moverdevice 111.

As depicted, the mover device 111 may include a reinforcement member1603 which runs along an edge of the cold plate 301. While as depictedthe reinforcement member 1603 is C-shaped (e.g. in cross-section), thereinforcement member 1603 may be of any suitable shape, including, butnot limited to, an I-shape, and an L-shape, and the like. Thereinforcement member 1603 may comprise rigid material, including, butnot limited to, stainless steel, and the like.

Furthermore, while as depicted the reinforcement member 1603 is externalto the electrically insulating material 1601, the reinforcement member1603 may be internal to the electrically insulating material 1601 and/orinternal to mover device 111; indeed, the reinforcement member 1603 maybe in any suitable position. The reinforcement member 1603 may beencapsulated by the electrically insulating material 1601, partiallyencapsulated by the electrically insulating material 1601, and/orexternal to the electrically insulating material 1601. The reinforcementmember 1603 may, in some examples, be electrically insulated fromcomponents of the mover device 111 which conduct magnetic flux and/orelectric current.

Furthermore, while as depicted the reinforcement member 1603 is along anedge of the cold plate 301 to which slits 920 from the slots 305 extend,the reinforcement member 1603 may be along any suitable edge of the coldplate 301. Put another way, the edge of the cold plate 301, along whichthe reinforcement member 1603 runs, may include the slits 920 configuredto reduce eddy currents, as described above.

For example, comparing FIG. 16 with FIG. 9, it is apparent that thereinforcement member 1603 extends along an edge of the cold plate 301that include the slits 920. For example, while such slits 920 may beuseful in reducing eddy currents, such slits 920 may also reducestructural support of the mover device 111. Hence the reinforcementmember 1603 may comprise any suitable rigid material and/or stiffmaterial, such as stainless steel, aluminum, a composite, and the likewhich may be used to provide additional structural support and/orreinforcement and/or stiffness for the mover device 111. As such thereinforcement member 1603 may alternatively be referred to as astiffening member, and the like. The material of the reinforcementmember 1603 is further non-magnetic. The material of the reinforcementmember 1603 may further be conductive or non-conductive. Thereinforcement member 1603 may be electrically insulated from the coldplate 301 and/or the “teeth” of the cold plate 301 formed by the slits920 at edge of the cold plate 301 along which the reinforcement member1603 may extend.

As depicted, the assembled mover device 111 includes one or moreattachment units 1605, including, but not limited to brackets, walls andthe like, which may be to attach the assembled mover device 111 to thepayload 107 (e.g. using bolts, pins and the like). As depicted, theattachment units 1605 include walls which may extend from brackets (notdepicted), which may provide additional structural integrity for themover device 111. The attachment units 1605 connect the mover to thepayload, and may be attached to the reinforcement member 1603 foradditional stiffness and/or reinforcement. While not depicted,attachment brackets of the attachment units 1605 may be located at anedge of the mover device 111 opposite the reinforcement member 1603;hence, the slits 920 may be at an edge opposite the payload 107 and maybe located in the channel segments 105 when the mover device 111 is inoperation with the HLSM 200.

As described herein the track 103 is generally configured for magneticsaliency, by way of the spaced channels segments 105. However, suchsaliency may be provided by other configurations of the track 103. Forexample, attention is next directed to FIG. 17 which depicts an exampleof an elongated C-shaped channel 1705 which includes airgaps 1706, 1707of alternating height which provide magnetic saliency to the C-shapedchannel 1705. The mover device 111 may hence interact with the C-shapedchannel 1705 similar to as described with respect to the channelsegments 105.

Yet further alternatives are within the scope of the presentspecification. For example, the system 100 may be adapted to include awireless charging system and/or wireless charging devices which may beused to charge batteries of the mover device 111 using, for example,induction. Such wireless charging devices may be incorporated into thechannel segments 105 and/or mounted along the track 103 in any suitableposition. Such wireless charging devices may include windings and/orcoils at the track 103 to provide the charging. In these examples, themover device 111 and/or the payload 107 may be adapted to include awireless charging system that interacts with the wireless chargingdevices to charge batteries used to power the field coils 330 and thearmature coils 321, 322. Put another way, propulsion of the rotor/moverdevice 111 along a stator/track 103, in which such wireless charging isincorporated, may be provided. Indeed, the use of electromagnetic fieldsto propel the mover device 111 may allow for an easy transition intoinductor-based charging, allowing a vehicle, such as the payload 107that includes batteries to charge as the rotor moves along the stator.

Provided herein are various homopolar linear synchronous machines thatmay be used with a transportation system. Mover devices as describedherein generally do not include yokes, nor iron backplanes and the like,which may reduce weight as compared to mover devices that include yokesand/or iron backplanes. Furthermore, removal of material from coldplates for insertion of ferromagnetic cores therethrough may furtherreduce weight of a mover device. Indeed, reduction of weight of moverdevices in homopolar linear synchronous machines may be important whenlevitating payloads that that are propelled by such homopolar linearsynchronous machines, to reduce use of power in such processes.Furthermore, use of short pitch armature coils and/or stepped armaturecoils, and insertion of ferromagnetic cores through a cold plate mayprovide for a compact mover device of a homopolar linear synchronousmachine.

In this specification, elements may be described as “configured to”perform one or more functions or “configured for” such functions. Ingeneral, an element that is configured to perform or configured forperforming a function is enabled to perform the function, or is suitablefor performing the function, or is adapted to perform the function, oris operable to perform the function, or is otherwise capable ofperforming the function.

It is understood that for the purpose of this specification, language of“at least one of X, Y, and Z” and “one or more of X, Y and Z” can beconstrued as X only, Y only, Z only, or any combination of two or moreitems X, Y, and Z (e.g., XYZ, XY, YZ, XZ, and the like). Similar logiccan be applied for two or more items in any occurrence of “at least one. . . ” and “one or more . . . ” language.

The terms “about”, “substantially”, “essentially”, “approximately”, andthe like, are defined as being “close to”, for example as understood bypersons of skill in the art. In some examples, the terms are understoodto be “within 10%,” in other examples, “within 5%”, in yet furtherexamples, “within 1%”, and in yet further examples “within 0.5%”.

Persons skilled in the art will appreciate that in some examples, thefunctionality of devices and/or methods and/or processes describedherein can be implemented using pre-programmed hardware or firmwareelements (e.g., application specific integrated circuits (ASICs),electrically erasable programmable read-only memories (EEPROMs), etc.),or other related components. In other examples, the functionality of thedevices and/or methods and/or processes described herein can be achievedusing a computing apparatus that has access to a code memory (not shown)which stores computer-readable program code for operation of thecomputing apparatus. The computer-readable program code could be storedon a computer readable storage medium which is fixed, tangible andreadable directly by these components, (e.g., removable diskette,CD-ROM, ROM, fixed disk, USB drive). Furthermore, it is appreciated thatthe computer-readable program can be stored as a computer programproduct comprising a computer usable medium. Further, a persistentstorage device can comprise the computer readable program code. It isyet further appreciated that the computer-readable program code and/orcomputer usable medium can comprise a non-transitory computer-readableprogram code and/or non-transitory computer usable medium.Alternatively, the computer-readable program code could be storedremotely but transmittable to these components via a modem or otherinterface device connected to a network (including, without limitation,the Internet) over a transmission medium. The transmission medium can beeither a non-mobile medium (e.g., optical and/or digital and/or analogcommunications lines) or a mobile medium (e.g., microwave, infrared,free-space optical or other transmission schemes) or a combinationthereof.

Persons skilled in the art will appreciate that there are yet morealternative examples and modifications possible, and that the aboveexamples are only illustrations of one or more examples. The scope,therefore, is only to be limited by the claims appended hereto.

What is claimed is:
 1. A mover device comprising: a cold platecomprising: a movement axis; and slots therethrough arranged along themovement axis; ferromagnetic cores extending through the slots; firstarmature coils located around the ferromagnetic cores at a first side ofthe cold plate; second armature coils located around the ferromagneticcores at a second side of the cold plate opposite the first side of thecold plate; and at least one field coil around one or more of the firstarmature coils and the second armature coils.
 2. The mover device ofclaim 1, wherein the first armature coils and the second armature coilsare substantially symmetrical with each other, with respect to the coldplate therebetween.
 3. The mover device of claim 1, wherein the firstarmature coils and the second armature coils comprise stepped armaturecoils, the stepped armature coils located around two respectiveferromagnetic cores, with adjacent stepped armature coils offset by onerespective ferromagnetic core, and steps of the adjacent steppedarmature coils stacking with one another.
 4. The mover device of claim3, wherein a given ferromagnetic core has two stepped armature coilslocated therearound, each of the two stepped armature coils offset fromone another and located around two respective ferromagnetic cores, thetwo stepped armature coils configured to operate at different respectivephases.
 5. The mover device of claim 1, wherein the first armature coilsand the second armature coils are in communication with at least onearmature controller configured to control the first armature coils andthe second armature coils as a multi-phase electrical device such thatthe first armature coils, the second armature coils and theferromagnetic cores are controlled to form at least one magnetic polepair.
 6. The mover device of claim 5, wherein the at least one armaturecontroller is in communication with a position sensor configured todetermine a position used to control a respective position of the atleast one magnetic pole pair.
 7. The mover device of claim 1, whereinthe at least one field coil is in communication with at least one fieldcoil controller configured to control the at least one field coil toform a loop of magnetic flux about perpendicular to the movement axis ofthe cold plate.
 8. The mover device of claim 1, further comprising atleast one retention device configured to retain the first armature coilsand the second armature coils between the ferromagnetic cores.
 9. Themover device of claim 8, wherein the at least one retention deviceincludes one or more of a slot wedge and a ripple spring.
 10. The moverdevice of claim 1, further comprising a plurality of cold plates,including the cold plate, and a plurality of armature coils, includingthe first armature coils and the second armature coils, the plurality ofcold plates and the plurality of armature coils arranged such that agiven cold plate is between a pair of armature coils.
 11. The moverdevice of claim 1, further comprising one or more spacer blocks betweenthe ferromagnetic cores and between respective armature coils locatedaround the ferromagnetic cores, the one or more spacer blocks configuredto conduct heat from one or more of the ferromagnetic cores and therespective armature coils to the cold plate.
 12. The mover device ofclaim 1, wherein about equal portions of the ferromagnetic cores arelocated at each of the first side and the second side of the cold plate.13. The mover device of claim 1, wherein the cold plate furthercomprises a non-ferromagnetic material.
 14. The mover device of claim 1,wherein the cold plate further comprises slits configured to one or moreof: interrupt conductive paths in the cold plate; and reduce eddycurrents in the cold plate.
 15. The mover device of claim 1, wherein thecold plate includes cooling channels.
 16. The mover device of claim 1,further comprising an electrically insulating material encapsulating atleast a portion of one or more of the cold plate, the ferromagneticcores, the first armature coils, the second armature coils and the atleast one field coil.
 17. The mover device of claim 16, wherein at leasta portion of the electrically insulating material is coated with one ormore of a conductive material and a semi-conductive material.
 18. Themover device of claim 1, further comprising a reinforcement member whichruns along an edge of the cold plate.
 19. The mover device of claim 18,wherein the edge of the cold plate, along which the reinforcement memberruns, includes slits configured to reduce eddy currents.
 20. The moverdevice of claim 1, further comprising one or more attachment unitsconfigured to attach the mover device to a payload.